Abstract
Recently, a type of flexible grippers with low power supply (0–5 V) has been designed and developed for grasping small but precision parts. In previous work, the authors manufactured a soft gripper whose actuating components are made of ionic polymer-metal composite (IPMC) materials; however, there is not a comprehensive model to analyze the complete mechanics for this IPMC gripper. Therefore, this paper provides a finite element method for analyzing its static mechanics characteristics in the state with maximal stress and strain (i.e., the gripper opening largest, including the IPMC deformation, stress, and strain). Further, these electromechanical coupling relationships can be simulated by using the piezoelectric analysis module based on ANSYS software. The simulation results show that the maximal tip displacement of IPMC strips can nearly reach their own free length, the maximal stress is 54 MPa in the center of copper electrodes, and the maximal strain is 0.0286 on the IPMC strip. The results provide detailed numerical solutions and appropriate finite element analysis methodologies beneficial for further research on the optimization design, forecast analysis, and control field.
Similar content being viewed by others
References
Shahinpoor M, Kim K J. Ionic polymer-metal composites: I. Fundamentals. Smart Materials and Structures, 2001, 10: 819–833
Kim K J, Shahinpoor M. Ionic polymer-metal composites: II. Manufacturing techniques. Smart Materials and Structures, 2003, 12: 65–79
Mojarrad M, Shahinpoor M. Biomimetic robotic propulsion using polymeric artificial muscles. In: 1997 IEEE International Conference on Robotics and Automation. New Mexico(USA): Albuquerque, 1997, 2152–2157
Bar-Cohen Y. Electroactive Polymer (EAP) Actuators as Artificial Muscles Reality, Potential, and Challenges. Bellingham: SPIE Press, 2004
Peng H M, Ding Q J, Li H F. Fabrication of ionic polymer-metal composites (IPMCs) and robot design. Frontiers of Mechanical Engineering in China, 2009, 4(3): 332–338
Lumia R, Shahinpoor M. Microgripper design using electro-active polymers. In: Proceedings of SPIE—The International Society for Optical Engineering. 1999, 3669: 322–329
Dcole U, Lumia R, Shahinpoor M. Grasping flexible objects using artificial muscle microgrippers. Robotics: Trends, Principles, and Applications—International Symposium on Robotics and Applications, ISORA. In: Sixth Biannual World Automation Congress. 2004, 191–196
Lee S, Park H C, Kim K J. Equivalent modeling for ionic polymermetal composite actuators based on beam theories. Smart Materials and Structures, 2005, 14: 1363–1368
Lee S, Kim K J. Muscle-like linear actuator using an ionic polymermetal composite and its actuation characteristics. In: Proceedings of SPIE—The International Society for Optical Engineering. CA(US): San Diego, 2006, 6168: 616820
Nernat-Nasser S, Li J Y. Electromechanical response of ionic polymer-metal composites. Journal of Applied Physics, 2000, 87: 3321–3331
Lee S, Kim K J. Design of IPMC actuator-driven valve-less micropump and its flow rate estimation at low Reynolds numbers. Smart Materials and Structures, 2006, 15: 1103–1109
Barramba J, Silva J, Costa Branco P J. Evaluation of dielectric gel coating for encapsulation of ionic polymer-metal composite (IPMC) actuators. Sensors and Actuators A: Physical, 2007, 140(2): 232–238
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Peng, H., Hui, Y., Ding, Q. et al. IPMC gripper static analysis based on finite element analysis. Front. Mech. Eng. China 5, 204–211 (2010). https://doi.org/10.1007/s11465-010-0005-1
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11465-010-0005-1